RobWorkProject  24.5.15-
Public Types | Public Member Functions | List of all members
JointDevice Class Reference

A device for a sequence of joints. More...

#include <JointDevice.hpp>

Inherits Device.

Inherited by CompositeDevice, CompositeJointDevice, ParallelDevice, SerialDevice, and TreeDevice.

Public Types

typedef rw::core::Ptr< JointDevicePtr
 smart pointer type to this class
 
typedef rw::core::Ptr< const JointDeviceCPtr
 smart pointer type to this class
 
- Public Types inherited from Device
typedef rw::core::Ptr< DevicePtr
 smart pointer type to this class
 
typedef rw::core::Ptr< const DeviceCPtr
 const smart pointer type to this class
 
typedef std::pair< rw::math::Q, rw::math::QQBox
 Lower and upper corner of a box shaped configuration space.
 
- Public Types inherited from Stateless
typedef rw::core::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

 JointDevice (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > base, rw::core::Ptr< rw::kinematics::Frame > end, const std::vector< rw::models::Joint * > &joints, const rw::kinematics::State &state)
 Construct the device for a sequence of joints. More...
 
virtual ~JointDevice ()
 destructor
 
const std::vector< rw::models::Joint * > & getJoints () const
 Get all joints of this device. More...
 
void setQ (const rw::math::Q &q, rw::kinematics::State &state) const
 Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \). More...
 
rw::math::Q getQ (const rw::kinematics::State &state) const
 Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \). More...
 
size_t getDOF () const
 Returns number of active joints. More...
 
std::pair< rw::math::Q, rw::math::QgetBounds () const
 Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...
 
void setBounds (const std::pair< rw::math::Q, rw::math::Q > &bounds)
 Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...
 
rw::math::Q getVelocityLimits () const
 Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...
 
void setVelocityLimits (const rw::math::Q &vellimits)
 Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...
 
rw::math::Q getAccelerationLimits () const
 Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...
 
void setAccelerationLimits (const rw::math::Q &acclimits)
 Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...
 
rw::math::Jacobian baseJend (const rw::kinematics::State &state) const
 Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...
 
rw::core::Ptr< rw::models::JacobianCalculatorbaseJCframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
 DeviceJacobian for a sequence of frames. More...
 
rw::kinematics::FramegetBase ()
 a method to return the frame of the base of the device. More...
 
const rw::kinematics::FramegetBase () const
 a method to return the frame of the base of the device. More...
 
virtual rw::kinematics::FramegetEnd ()
 a method to return the frame of the end of the device More...
 
virtual const rw::kinematics::FramegetEnd () const
 a method to return the frame of the end of the device More...
 
- Public Member Functions inherited from Device
 Device (const std::string &name)
 
virtual ~Device ()
 Virtual destructor.
 
virtual void setBounds (const QBox &bounds)=0
 Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...
 
const std::string & getName () const
 Returns the name of the device. More...
 
void setName (const std::string &name)
 Sets the name of the Device. More...
 
rw::math::Transform3D< double > baseTframe (rw::core::Ptr< const rw::kinematics::Frame > f, const rw::kinematics::State &state) const
 Calculates the homogeneous transform from base to a frame f \( \robabx{b}{f}{\mathbf{T}} \). More...
 
rw::math::Transform3D< double > baseTend (const rw::kinematics::State &state) const
 Calculates the homogeneous transform from base to the end frame \( \robabx{base}{end}{\mathbf{T}} \). More...
 
rw::math::Transform3D< double > worldTbase (const rw::kinematics::State &state) const
 Calculates the homogeneous transform from world to base \( \robabx{w}{b}{\mathbf{T}} \). More...
 
virtual rw::math::Jacobian baseJframe (const rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
 Calculates the jacobian matrix of a frame f described in the robot base frame \( ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...
 
virtual rw::math::Jacobian baseJframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
 The Jacobian for a sequence of frames. More...
 
virtual rw::core::Ptr< rw::models::JacobianCalculatorbaseJCend (const rw::kinematics::State &state) const
 DeviceJacobian for the end frame. More...
 
virtual rw::core::Ptr< rw::models::JacobianCalculatorbaseJCframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
 DeviceJacobian for a particular frame. More...
 
const rw::core::PropertyMapgetPropertyMap () const
 Miscellaneous properties of the device. More...
 
rw::core::PropertyMapgetPropertyMap ()
 Miscellaneous properties of the device. More...
 
- Public Member Functions inherited from Stateless
virtual ~Stateless ()
 destructor
 
virtual void registerIn (State &state)
 initialize this stateless data to a specific state More...
 
virtual void registerIn (StateStructure::Ptr state)
 register this stateless object in a statestructure.
 
virtual void unregister ()
 unregisters all state data of this stateless object
 
StateStructure::Ptr getStateStructure ()
 Get the state structure. More...
 
const StateStructure::Ptr getStateStructure () const
 Get the state structure. More...
 
bool isRegistered ()
 Check if object has registered its state. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Stateless
 Stateless ()
 constructor
 
template<class T >
void add (StatelessData< T > &data)
 implementations of sensor should add all their stateless data on initialization
 
void add (StateData *data)
 Add data. More...
 
void add (rw::core::Ptr< StateData > data)
 implementations of sensor should add all their state data on initialization
 
- Protected Attributes inherited from Stateless
bool _registered
 True if object has registered its state.
 
std::vector< rw::core::Ptr< StateData > > _datas
 Data.
 
StateStructure::Ptr _stateStruct
 The state structure.
 

Detailed Description

A device for a sequence of joints.

Contrary to for example SerialDevice and TreeDevice, the joints need not have any particular ordering within the kinematic tree.

A JointDevice is a joint for which the values of the configuration Q each correspond to a frame of type Joint.

To implement a Device it is common to derive from JointDevice and just add implement methods where your device differs from the standard behaviour. Subclasses typically differ in their implementation of setQ() and the Jacobian computation.

Constructor & Destructor Documentation

◆ JointDevice()

JointDevice ( const std::string &  name,
rw::core::Ptr< rw::kinematics::Frame base,
rw::core::Ptr< rw::kinematics::Frame end,
const std::vector< rw::models::Joint * > &  joints,
const rw::kinematics::State state 
)

Construct the device for a sequence of joints.

Parameters
name[in] name of device
base[in] the base of the device
end[in] the end (or tool) of the device
joints[in] the joints of the device
state[in] the state that shows how frames are connected as needed for the computation of Jacobians.

Member Function Documentation

◆ baseJCframes()

rw::core::Ptr<rw::models::JacobianCalculator> baseJCframes ( const std::vector< rw::kinematics::Frame * > &  frames,
const rw::kinematics::State state 
) const
virtual

DeviceJacobian for a sequence of frames.

Implements Device.

◆ baseJend()

rw::math::Jacobian baseJend ( const rw::kinematics::State state) const
virtual

Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Parameters
state[in] State for which to calculate the Jacobian
Returns
the \( 6*ndof \) jacobian matrix: \( {^{base}_{end}}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

This method calculates the jacobian relating joint velocities ( \( \mathbf{\dot{q}} \)) to the end-effector velocity seen from base-frame ( \( \nu^{ase}_{end} \))

\[ \nu^{base}_{end} = {^{base}_{end}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}} \]

The jacobian matrix

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \]

is defined as:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}} \]

Where:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \left[ \begin{array}{cccc} {^{base}_1}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & {^{base}_2}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & \cdots & {^b_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \\ \end{array} \right] \]

where \( {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \) is defined by

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \times {^{i}\mathbf{p}_n} \\ {^{base}}\mathbf{z}_i \\ \end{array} \right] & \textrm{revolute joint} \end{array} \]

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \\ \mathbf{0} \\ \end{array} \right] & \textrm{prismatic joint} \\ \end{array} \]

By default the method forwards to baseJframe().

Implements Device.

Reimplemented in ParallelDevice.

◆ getAccelerationLimits()

rw::math::Q getAccelerationLimits ( ) const
virtual

Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Returns
the maximal acceleration

Implements Device.

◆ getBase() [1/2]

rw::kinematics::Frame* getBase ( )
inlinevirtual

a method to return the frame of the base of the device.

Returns
the base frame

Implements Device.

◆ getBase() [2/2]

const rw::kinematics::Frame* getBase ( ) const
inlinevirtual

a method to return the frame of the base of the device.

Returns
the base frame

Implements Device.

◆ getBounds()

std::pair<rw::math::Q, rw::math::Q> getBounds ( ) const
virtual

Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Returns
std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

Implements Device.

◆ getDOF()

size_t getDOF ( ) const
virtual

Returns number of active joints.

Returns
number of active joints \( n \)

Implements Device.

◆ getEnd() [1/2]

virtual rw::kinematics::Frame* getEnd ( )
inlinevirtual

a method to return the frame of the end of the device

Returns
the end frame

Implements Device.

Reimplemented in TreeDevice.

◆ getEnd() [2/2]

virtual const rw::kinematics::Frame* getEnd ( ) const
inlinevirtual

a method to return the frame of the end of the device

Returns
the end frame

Implements Device.

Reimplemented in TreeDevice.

◆ getJoints()

const std::vector<rw::models::Joint*>& getJoints ( ) const
inline

Get all joints of this device.

Returns
all joints

◆ getQ()

rw::math::Q getQ ( const rw::kinematics::State state) const
virtual

Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \).

Parameters
state[in] state from which which to get \( \mathbf{q} \)
Returns
configuration vector \( \mathbf{q} \)

Implements Device.

◆ getVelocityLimits()

rw::math::Q getVelocityLimits ( ) const
virtual

Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Returns
the maximal velocity

Implements Device.

◆ setAccelerationLimits()

void setAccelerationLimits ( const rw::math::Q acclimits)
virtual

Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Parameters
acclimits[in] the maximal acceleration

Implements Device.

◆ setBounds()

void setBounds ( const std::pair< rw::math::Q, rw::math::Q > &  bounds)

Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Parameters
bounds[in] std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

◆ setQ()

void setQ ( const rw::math::Q q,
rw::kinematics::State state 
) const
virtual

Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \).

Parameters
q[in] configuration vector \( \mathbf{q} \)
state[in] state into which to set \( \mathbf{q} \)
Precondition
q.size() == getDOF()

Implements Device.

Reimplemented in ParallelDevice.

◆ setVelocityLimits()

void setVelocityLimits ( const rw::math::Q vellimits)
virtual

Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Parameters
vellimits[in] Q with the maximal velocity

Implements Device.


The documentation for this class was generated from the following file: